Well, he is a champion with 5 GT wins, an OGITT, an LBL, and nearly 100 WT wins, so, no, he hasn't done a lot of domestique work.
Having said that, he has done some. I just recently tuned in to see him doing domestique work in San Sebastien, which honestly didn't make sense to me. And after the team told him he couldn't in fact race for the win in the 2023 Vuelta, he did pace Sepp. I also watched him dig deep through a pretty bad injury to help Vingegaard crack Pogacar in the 2022 Tour....
Pogacar should be the clear leader, and he should only work for Roglic if he is like severely ill or injured or something. I agree that Roglic is best used as a wheelsucker who is mainly relevant if Pogi's attack somehow gets reeled in.